Rotatable sailboat-type autonomous underwater robot for detecting water pipe

Abstract

The invention discloses a rotatable sailboat-type autonomous underwater robot for detecting a water pipe, and relates to the technical field of pipe detection robots. The rotatable sailboat-type autonomous underwater robot comprises a robot body, sailboards, a stepping motor and telescopic supporting arms. The sailboards are arranged on the left side and the right side of the robot body. The stepping motor is assembled in the robot body. An output shaft of the stepping motor is connected with the sailboards. The number of the telescopic supporting arms is four, and the four telescopic supporting arms are uniformly arranged on the periphery of the outer wall of the robot body at intervals. Waterproof cameras are mounted at the top and bottom of the robot body. The rotatable sailboat-type autonomous underwater robot can realize powerless sailing by means of the thrust of water flow, so that energy consumption is obviously reduced, the robot can conduct detection in a long-distance waterpipe, and the work time is prolonged; the telescopic supporting arms are additionally arranged on the robot and are in close contact with the pipe wall, and the posture of the robot body can be kept stable by means of the contact force; and the supporting arms are made of carbon fiber materials through 3D printing, so that the weight of the supporting arms is reduced, and the strength of the supporting arms is guaranteed.

Description

technical field [0001] The invention relates to the technical field of water pipeline detection, in particular to a water pipeline detection robot. Background technique [0002] With the increase of long-distance water transmission, water diversion and water supply projects, large-scale, high-velocity, long-distance water pipelines are widely used in large-scale cross-basin water conservancy projects. These large-scale water conservancy projects have played a vital role in the development of economic construction in water-scarce areas, but the detection of long-distance water pipelines has become an urgent problem to be solved. [0003] This kind of long-distance, large-scale water pipeline must be inspected under the condition of water, so manual inspection cannot be performed. Underwater robots are waterproof, pressure-resistant and capable of carrying a large number of sensors, so underwater robots are more and more used in pipeline inspection. [0004] However, the cur...

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Problems solved by technology

[0005] In view of the above-mentioned problems, the purpose of the present invention is to provide a rotatable sailboat-type autonomous underwater robot for water pipeline detection, which solves the problem that the underwater robot cannot operate long distances due to the limitation of battery capacity, and the posture of the fuselage in the pipeline is unstable. technical issues

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